公开(公告)号：US20240288863A1

公开(公告)日：2024-08-29

申请号：US18652670

申请日：2024-05-01

Applicant: Waymo LLC

Inventor： Andre Strobel

IPC: G05D1/00 ,  B60G17/016 ,  B60Q1/04 ,  B60Q1/30 ,  B60Q1/34 ,  B60W10/20 ,  B60W30/14 ,  B60W30/18 ,  B60W40/06 ,  B60W40/072 ,  B60W40/12 ,  B60W60/00 ,  B62D35/00 ,  G01S13/931 ,  G01S15/931 ,  G01S17/931 ,  G09F7/00

CPC classification number: G05D1/0088 ,  B60G17/016 ,  B60Q1/04 ,  B60Q1/30 ,  B60Q1/34 ,  B60W10/20 ,  B60W30/143 ,  B60W30/18163 ,  B60W40/06 ,  B60W40/072 ,  B60W40/12 ,  B60W60/001 ,  B60W60/00182 ,  B62D35/00 ,  G01S13/931 ,  G01S15/931 ,  G01S17/931 ,  G09F7/00 ,  B60W2300/12 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2420/54 ,  B60W2510/222 ,  B60W2555/20 ,  G01S2013/9315

Abstract: Aspects and implementations of the present disclosure relate to performance and safety improvements for autonomous trucking systems, such as reactive suspensions for maximizing aerodynamic performance and minimizing mechanical impact from road imperfections, automated placement of emergency signaling devices, and techniques of enhanced illumination of stopped and stranded vehicles.

公开(公告)号：US12071163B2

公开(公告)日：2024-08-27

申请号：US18219239

申请日：2023-07-07

Applicant: Waymo LLC

Inventor： Son-Ca Nguyen ,  Salil Pandit ,  Noah Eisen ,  Renaud-Roland Hubert ,  Lauren Tindal ,  Jessica Gong ,  Lorena Zalles

IPC: B60W60/00 ,  B60R25/01 ,  B60R25/10 ,  B60R25/102 ,  B60W10/30 ,  B60W40/08 ,  G01C21/34 ,  G01S19/42 ,  G05D1/00

CPC classification number: B60W60/0025 ,  B60R25/01 ,  B60R25/10 ,  B60R25/102 ,  B60W10/30 ,  B60W40/08 ,  G01C21/3407 ,  G05D1/0016 ,  B60R2025/1013 ,  B60W2510/1005 ,  G01S19/42

Abstract: Aspects of the disclosure relate to enabling roadside assistance to a vehicle that requires assistance having an autonomous driving mode. For instance, a technician may be assigned to the vehicle that requires assistance. A signal corresponding to user input at a remote computing device requesting a change to a state of the vehicle may be received. The signal may be based on details of the assigned technician. Based on the validation, an instruction may be sent to the vehicle to change the state of the vehicle.

公开(公告)号：US20240281575A1

公开(公告)日：2024-08-22

申请号：US18627436

申请日：2024-04-04

Applicant: Waymo LLC

Inventor： Arthur Dov Safira ,  Harrison Lee McKenzie Chapter ,  Colin Andrew Braley ,  Hui Seong Son ,  Aleksandar Rumenov Gabrovski ,  Brian Choung Choi

IPC: G06F30/20 ,  B60W50/00 ,  B60W60/00 ,  G01S17/10 ,  G01S17/89

CPC classification number: G06F30/20 ,  B60W50/00 ,  B60W60/001 ,  G01S17/10 ,  G01S17/89 ,  B60W2050/0004 ,  B60W2050/0019

Abstract: Aspects and implementations of the present disclosure address shortcomings of existing technology by enabling autonomous vehicle simulations based on retro-reflection optical data. The subject matter of this specification can be implemented in, among other things, a method that involves initiating a simulation of an environment of an autonomous driving vehicle, the simulation including a plurality of simulated objects, each having an identification of a material type of the respective object. The method can further involve accessing simulated reflection data based on the plurality of simulated objects and retro-reflectivity data for the material types of the simulated objects, and determining, using an autonomous vehicle control system for the autonomous vehicle, a driving path relative to the simulated objects, the driving path based on the simulated reflection data.

公开(公告)号：US12066578B2

公开(公告)日：2024-08-20

申请号：US17173242

申请日：2021-02-11

Applicant: Waymo LLC

Inventor： Mingcheng Chen ,  Colin Braley ,  Volker Grabe ,  Christian Lauterbach

IPC: G01S7/48 ,  G01S7/497 ,  G01S17/10 ,  G01S17/42 ,  G01S17/86 ,  G01S17/87 ,  G01S17/931

CPC classification number: G01S7/4972 ,  G01S7/497 ,  G01S17/10 ,  G01S17/42 ,  G01S17/86 ,  G01S17/87 ,  G01S17/931

Abstract: Example embodiments relate to calibration and localization of a light detection and ranging (lidar) device using a previously calibrated and localized lidar device. An example embodiment includes a method. The method includes receiving, by a computing device associated with a second vehicle, a first point cloud captured by a first lidar device of a first vehicle. The first point cloud includes points representing the second vehicle. The method also includes receiving, by the computing device, pose information indicative of a pose of the first vehicle. In addition, the method includes capturing, using a second lidar device of the second vehicle, a second point cloud. Further, the method includes receiving, by the computing device, a third point cloud representing the first vehicle. Yet further, the method includes calibrating and localizing, by the computing device, the second lidar device.

公开(公告)号：USD1038792S1

公开(公告)日：2024-08-13

申请号：US29895982

申请日：2023-06-28

Applicant: Waymo LLC

Designer： Yoojung Ahn ,  Jared Gross ,  Thomas Southworth ,  Chun Chen ,  Ricky Wong

Abstract: FIG. 1 is a front perspective view of a first embodiment of the claimed design for a rear sensor housing;
FIG. 2 is a front elevation view thereof;
FIG. 3 is a back elevation view thereof;
FIG. 4 is a right side elevation view thereof;
FIG. 5 is a left side elevation view thereof;
FIG. 6 is a top plan view thereof; and,
FIG. 7 is a bottom plan view thereof.
The broken lines in the figures illustrate portions of the rear sensor housing that form no part of the claimed design.

公开(公告)号：US12061296B2

公开(公告)日：2024-08-13

申请号：US16951704

申请日：2020-11-18

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Benjamin Ingram ,  Luke Wachter

IPC: G01S7/497 ,  G01S7/40 ,  G01S7/481 ,  G01S13/931 ,  G01S17/86 ,  G01S17/87 ,  G01S17/931

CPC classification number: G01S7/4972 ,  G01S7/4813 ,  G01S13/931 ,  G01S17/86 ,  G01S17/87 ,  G01S17/931 ,  G01S7/4039 ,  G01S2013/93271 ,  G01S2013/93272 ,  G01S2013/93273

Abstract: An example system includes a light detection and ranging (LIDAR) device that scans a field-of-view defined by a pointing direction of the LIDAR device. The system also includes an actuator that adjusts the pointing direction of the LIDAR device. The system also includes a communication interface that receives timing information from an external system. The system also includes a controller that causes the actuator to adjust the pointing direction of the LIDAR device based on at least the received timing information.

公开(公告)号：US12059994B2

公开(公告)日：2024-08-13

申请号：US18243238

申请日：2023-09-07

Applicant: Waymo LLC

Inventor： Giulia Guidi

IPC: B60Q1/00 ,  B60R11/04 ,  G03B15/02 ,  G01S7/481

CPC classification number: B60Q1/0023 ,  B60R11/04 ,  G03B15/02 ,  G01S7/4815

Abstract: The present disclosure relates to optical systems, vehicles, and methods that are configured to illuminate and image a wide field of view of an environment. An example optical system includes a camera having an optical axis and an outer lens element disposed along the optical axis. The optical system also includes a plurality of illumination modules, each of which includes at least one light-emitter device configured to emit light along a respective emission axis and a secondary optical element optically coupled to the at least one light-emitter device. The secondary optical element is configured to provide a light emission pattern having an azimuthal angle extent of at least 170 degrees so as to illuminate a portion of an environment of the optical system.

公开(公告)号：US20240262385A1

公开(公告)日：2024-08-08

申请号：US18440363

申请日：2024-02-13

Applicant: Waymo LLC

Inventor： Brandyn Allen White ,  Aleksei Timofeev

IPC: B60W60/00 ,  B60W30/095 ,  G06N3/08

CPC classification number: B60W60/001 ,  B60W30/0956 ,  G06N3/08 ,  B60W2554/4044 ,  B60W2556/10

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for selecting actions for an agent at a specific real-world location using historical data generated at the same real-world location. One of the methods includes determining a current geolocation of an agent within an environment; obtaining historical data for geolocations in a vicinity of the current geolocation of the agent from a database that maintains historical data for a plurality of geolocations within the environment, the historical data for each geolocation comprising observations generated at least in part from sensor readings of the geolocation captured by vehicles navigating through the environment; generating an embedding of the obtained historical data; and providing the embedding as an input to a policy decision-making system that selects actions to be performed by the agent.

公开(公告)号：US12058308B2

公开(公告)日：2024-08-06

申请号：US17937900

申请日：2022-10-04

Applicant: Waymo LLC

Inventor： Andy Wong ,  Nirav Dharia

IPC: H04N17/00 ,  B08B1/14 ,  B08B3/04 ,  B08B5/02 ,  B08B13/00 ,  G06T7/00 ,  H04N7/18 ,  H04N23/67

CPC classification number: H04N17/002 ,  B08B1/143 ,  B08B3/04 ,  B08B5/02 ,  B08B13/00 ,  G06T7/0002 ,  H04N7/18 ,  H04N23/672

Abstract: The present disclosure relates to systems, vehicles, and methods for detecting optical defects in an optical path of a camera system. An example system may include an image sensor configured to provide images of a field of view via an optical path that extends through an optical window. The system also includes at least one phase-detection device and a controller. The controller is configured to execute instructions stored in the memory so as to carry out various operations, including receiving, from the image sensor, first pixel information indicative of an image of the field of view. The operations additionally include receiving, from the at least one phase-detection device, second pixel information indicative of a portion of the field of view. The operations yet further include determining, based on the first pixel information and the second pixel information, at least one optical defect associated with the optical path.

公开(公告)号：US12055632B2

公开(公告)日：2024-08-06

申请号：US17069364

申请日：2020-10-13

Applicant: Waymo, LLC

Inventor： Shashank Sharma ,  Matthew Last

IPC: G01S17/89 ,  B60R1/12 ,  G01S17/48 ,  G06T7/80

CPC classification number: G01S17/89 ,  B60R1/12 ,  G01S17/48 ,  G06T7/85 ,  B60R2001/1223

Abstract: One example system comprises an active sensor that includes a transmitter and a receiver, a first camera that detects external light originating from one or more external light sources to generate first image data, a second camera that detects external light originating from one or more external light sources to generate second image data, and a controller. The controller is configured to perform operations comprising determining a first distance estimate to a first object based on a comparison of the first image data and the second image data, determining a second distance estimate to the first object based on active sensor data, comparing the first distance estimate and the second distance estimate, and determining a third distance estimate to a second object based on the first image data, the second image data, and the comparison of the first and second distance estimates.